cmake_minimum_required(VERSION 3.8)
project(simulator)

if(CMAKE_COMPILER_IS_GNUCXX OR CMAKE_CXX_COMPILER_ID MATCHES "Clang")
  add_compile_options(-Wall -Wextra -Wpedantic)
endif()

# find dependencies
find_package(ament_cmake REQUIRED)
find_package(rclcpp REQUIRED)
find_package(visualization_msgs REQUIRED)
find_package(tf2 REQUIRED)
find_package(tf2_ros REQUIRED)
find_package(Eigen3 REQUIRED)
find_package(geometry_msgs REQUIRED)
find_package(sensor_msgs REQUIRED)
find_package(cv_bridge REQUIRED)
find_package(OpenCV REQUIRED)
find_package(image_transport REQUIRED)
find_package(interfaces REQUIRED)

include_directories(
  include
  ${EIGEN3_INCLUDE_DIR}
)

add_definitions(${EIGEN3_DEFINITIONS})

if(BUILD_TESTING)
  find_package(ament_lint_auto REQUIRED)
  # the following line skips the linter which checks for copyrights
  # comment the line when a copyright and license is added to all source files
  set(ament_cmake_copyright_FOUND TRUE)
  # the following line skips cpplint (only works in a git repo)
  # comment the line when this package is in a git repo and when
  # a copyright and license is added to all source files
  set(ament_cmake_cpplint_FOUND TRUE)
  ament_lint_auto_find_test_dependencies()
endif()

ament_package()

add_executable(chassis src/chassis.cpp)
add_executable(armor src/armor.cpp)
add_executable(collisionChecker src/collisionChecker.cpp)
add_executable(camera src/camera.cpp)

ament_target_dependencies(chassis
  rclcpp
  visualization_msgs
  tf2
  tf2_ros
  geometry_msgs
  interfaces
)

ament_target_dependencies(armor
  rclcpp
  visualization_msgs
  tf2
  tf2_ros
  geometry_msgs
  interfaces
)

ament_target_dependencies(collisionChecker
  rclcpp
  visualization_msgs
  tf2
  tf2_ros
  geometry_msgs
  image_transport
)

ament_target_dependencies(camera
  rclcpp
  visualization_msgs
  tf2
  tf2_ros
  Eigen3
  geometry_msgs
  sensor_msgs
  OpenCV
  cv_bridge
  image_transport
)

install(
  TARGETS
  chassis
  armor
  collisionChecker
  camera
  DESTINATION lib/${PROJECT_NAME}
)

install(
  DIRECTORY launch
  DESTINATION share/${PROJECT_NAME}
)

install(
  DIRECTORY config
  DESTINATION share/${PROJECT_NAME}
)